org.openpnp.machine.reference.driver

Class NullDriver

java.lang.Object

org.openpnp.model.AbstractModelObject

org.openpnp.spi.base.AbstractDriver

org.openpnp.machine.reference.driver.NullDriver

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, Identifiable, Named, Solutions.Subject, Driver, PropertySheetHolder, WizardConfigurable

public class NullDriver
extends AbstractDriver

An example of the simplest possible driver. This driver maintains a set of coordinates for each Axis that it is asked to handle and simply logs all commands sent to it.

Nested Class Summary

Nested classes/interfaces inherited from interface org.openpnp.spi.Driver

Driver.MotionControlType

Nested classes/interfaces inherited from interface org.openpnp.spi.PropertySheetHolder

PropertySheetHolder.PropertySheet

Field Summary

Fields inherited from class org.openpnp.spi.base.AbstractDriver

deleteAction, id, name, permutateDownAction, permutateUpAction

Fields inherited from class org.openpnp.model.AbstractModelObject

propertyChangeSupport

Constructor Summary

Constructors

Constructor and Description
NullDriver()

Method Summary

Modifier and Type	Method and Description
void	actuate(Actuator actuator, boolean on) Actuates a machine defined object with a boolean state.
void	actuate(Actuator actuator, double value) Actuates a machine defined object with a double value.
void	actuate(Actuator actuator, java.lang.String value) Actuates a machine defined object with a String value.
java.lang.String	actuatorRead(Actuator actuator) Read a String value from the given Actuator.
void	close()
void	findIssues(Solutions solutions) Report any detected issue and proposed solution in the list.
Wizard	getConfigurationWizard() Gets a Wizard that can be used to configure this object.
double	getFeedRateMmPerMinute()
Length	getFeedRatePerSecond()
AxesLocation	getHomingOffsets()
Driver.MotionControlType	getMotionControlType()
AxesLocation	getReportedLocation(long timeout) Get the momentary real-time location from the controller.
LengthUnit	getUnits()
void	home(Machine machine) Perform the hardware homing operation.
boolean	isMotionPending()
boolean	isSyncInitialLocation()
boolean	isUsingLetterVariables()
void	migrateDriver(Machine machine) Deprecated.
void	moveTo(HeadMountable hm, Motion.MoveToCommand move) Commands the driver to move the given ReferenceHeadMountable to the specified Location at the given speed.
void	setEnabled(boolean enabled) Attempts to enable the Driver, turning on all outputs.
void	setFeedRateMmPerMinute(double feedRateMmPerMinute)
void	setGlobalOffsets(Machine machine, AxesLocation location) Set the current physical axis positions to be reinterpreted as the specified coordinates.
void	setHomingOffsets(AxesLocation homingOffsets)
void	waitForCompletion(HeadMountable hm, MotionPlanner.CompletionType completionType) Perform a coordinated wait for completion.

Methods inherited from class org.openpnp.spi.base.AbstractDriver

assignCameraVirtualAxes, createAxisMappingDefaults, createDefaults, getAxes, getChildPropertySheetHolders, getId, getMinimumRate, getName, getPropertySheetHolderActions, getPropertySheetHolderIcon, getPropertySheetHolderTitle, getPropertySheets, isSupportingPreMove, migrateAxis, setId, setName, toString

Methods inherited from class org.openpnp.model.AbstractModelObject

addPropertyChangeListener, addPropertyChangeListener, fireIndexedPropertyChange, firePropertyChange, removePropertyChangeListener, removePropertyChangeListener

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface org.openpnp.spi.Driver

actuatorRead, getInterpolationJerkSteps, getInterpolationMaxSteps, getInterpolationMinStep, getInterpolationTimeStep, getJunctionDeviation

Methods inherited from interface org.openpnp.model.Solutions.Subject

getSubjectIcon, getSubjectText

Constructor Detail

NullDriver

public NullDriver()

Method Detail

home

public void home(Machine machine)
          throws java.lang.Exception

Description copied from interface: Driver

Perform the hardware homing operation. When this completes the axes should be at their homing location. The call might return before this physically happens, so a waitForCompletion() is needed if you need to be sure.

Throws:

java.lang.Exception

setGlobalOffsets

public void setGlobalOffsets(Machine machine,
                             AxesLocation location)
                      throws java.lang.Exception

Description copied from interface: Driver

Set the current physical axis positions to be reinterpreted as the specified coordinates. Used after visual homing and to reset a rotation angle after it has wrapped around. In G-Code parlance this is setting a global offset:

Throws:

java.lang.Exception

See Also:

http://www.linuxcnc.org/docs/html/gcode/coordinates.html#_the_g92_commands, http://smoothieware.org/g92-cnc, https://github.com/synthetos/TinyG/wiki/Coordinate-Systems#offsets-to-the-offsets-g92

moveTo

public void moveTo(HeadMountable hm,
                   Motion.MoveToCommand move)
            throws java.lang.Exception

Commands the driver to move the given ReferenceHeadMountable to the specified Location at the given speed. Please see the comments for this method in the code for some important considerations when writing your own driver.

Parameters:

hm - The HeadMountable having triggered the move. This is mostly for proprietary machine driver support and might only be a stand-in in some motion blending scenarios.

move - The moveTo Motion to execute, including target location and limits for feedrate, acceleration etc. as shaped by the MotionPlanner

Throws:

java.lang.Exception

isMotionPending

public boolean isMotionPending()

Returns:

true if a motion is still assumed to be pending, i.e. waitForCompletion() has not yet been called.

waitForCompletion

public void waitForCompletion(HeadMountable hm,
                              MotionPlanner.CompletionType completionType)
                       throws java.lang.Exception

Description copied from interface: Driver

Perform a coordinated wait for completion. This must be issued before capturing camera frames etc.

Parameters:

hm - The HeadMountable to wait for. If null, wait for all the axes on the driver. Most drivers/controllers will probably not be able to wait for just a sub-set of axes, so the'll wait for all the axes anyway.

completionType - The kind of completion wanted.

Throws:

java.lang.Exception

getReportedLocation

public AxesLocation getReportedLocation(long timeout)
                                 throws java.lang.Exception

Description copied from interface: Driver

Get the momentary real-time location from the controller. This might be in mid-motion.

Parameters:

timeout - TODO

Returns:

Throws:

java.lang.Exception

actuate

public void actuate(Actuator actuator,
                    double value)
             throws java.lang.Exception

Description copied from interface: Driver

Actuates a machine defined object with a double value.

Throws:

java.lang.Exception

actuate

public void actuate(Actuator actuator,
                    boolean on)
             throws java.lang.Exception

Description copied from interface: Driver

Actuates a machine defined object with a boolean state.

Throws:

java.lang.Exception

actuate

public void actuate(Actuator actuator,
                    java.lang.String value)
             throws java.lang.Exception

Description copied from interface: Driver

Actuates a machine defined object with a String value.

Throws:

java.lang.Exception

actuatorRead

public java.lang.String actuatorRead(Actuator actuator)
                              throws java.lang.Exception

Description copied from interface: Driver

Read a String value from the given Actuator.

Returns:

Throws:

java.lang.Exception

setEnabled

public void setEnabled(boolean enabled)
                throws java.lang.Exception

Description copied from interface: Driver

Attempts to enable the Driver, turning on all outputs.

Throws:

java.lang.Exception

getConfigurationWizard

public Wizard getConfigurationWizard()

Description copied from interface: WizardConfigurable

Gets a Wizard that can be used to configure this object.

Returns:

getFeedRateMmPerMinute

public double getFeedRateMmPerMinute()

setFeedRateMmPerMinute

public void setFeedRateMmPerMinute(double feedRateMmPerMinute)

getFeedRatePerSecond

public Length getFeedRatePerSecond()

Specified by:

getFeedRatePerSecond in interface Driver

Overrides:

getFeedRatePerSecond in class AbstractDriver

Returns:

A driver specific feed-rate limit, applied in addition to axis feed-rate limits and according to NIST RS274NGC Interpreter - Version 3, Section 2.1.2.5 (p. 7). Given per second (will be converted to the standard per minute rate when using Gcode F values).

close

public void close()
           throws java.io.IOException

Throws:

java.io.IOException

getHomingOffsets

public AxesLocation getHomingOffsets()

setHomingOffsets

public void setHomingOffsets(AxesLocation homingOffsets)

getUnits

public LengthUnit getUnits()

Returns:

The LengthUnit used by the controller that is driven by this driver.

migrateDriver

@Deprecated
public void migrateDriver(Machine machine)
                               throws java.lang.Exception

Deprecated.

Description copied from class: AbstractDriver

Migrates the driver for the new global axes implementation. Is marked a deprecated as it can be removed along with the old GcodeDriver Axes implementation, once migration of users is expected to be complete.

Overrides:

migrateDriver in class AbstractDriver

Throws:

java.lang.Exception

isUsingLetterVariables

public boolean isUsingLetterVariables()

getMotionControlType

public Driver.MotionControlType getMotionControlType()

Returns:

The MotionControlType that determines how the OpenPnP MotionPlanner will do its planning and how it will talk to the controller.

findIssues

public void findIssues(Solutions solutions)

Description copied from interface: Solutions.Subject

Report any detected issue and proposed solution in the list.

isSyncInitialLocation

public boolean isSyncInitialLocation()

Returns:

true if the driver should synchronize its initial position after enabling.